CN109465844B - Heavy-duty hydraulic mechanical claw with double degrees of freedom - Google Patents

Abstract

The invention discloses a heavy-duty hydraulic mechanical claw with double degrees of freedom, which comprises a clamping assembly, a direct-acting driving assembly and a rotary driving assembly; the clamping assembly is used for being in direct contact with an operated object to provide clamping force; the direct-acting driving assembly realizes the degree of freedom of direct-acting; the rotation driving assembly realizes rotation freedom degree; the clamping assembly comprises two parts which are vertically symmetrical, each part comprises a chuck, a chuck connecting rod and a chuck auxiliary rod, and the two parts are connected through a direct-acting connecting rod; the direct-acting driving assembly is arranged in the direct-acting driving shell and comprises a bracket, a static oil ring, an oil moving ring, a piston and a piston rod; the rotary driving assembly comprises a swinging cylinder, a swinging cylinder driving shaft and a rotary driving shell; the invention uses hydraulic pressure as power, has double degrees of freedom of direct motion and rotation, resists the whole bending moment by two groups of bearings, transmits large torque by the spline, and is suitable for heavy load working conditions. The mechanical claw has compact structure, complete functions, high integration and excellent engineering application prospect.

Description

A heavy-duty hydraulic mechanical claw with two degrees of freedom

Technical field

The invention belongs to the field of hydraulic engineering and relates to mechanical claw parts such as hydraulic robots and hydraulic manipulators. In particular, it relates to a heavy-duty hydraulic mechanical claw with two degrees of freedom.

Background technique

Hydraulic manipulators are widely used in various engineering fields, especially suitable for heavy-load conditions. As the end of the actuator of the hydraulic manipulator, the mechanical claw is particularly important in its ability to resist bending moments, resist torque, and transmit heavy loads. Most of the existing mechanical claws only have opening and closing degrees of freedom, and their rotational freedom is achieved with the assistance of a mechanical arm. However, the few mechanical claws with dual degrees of freedom are customized using non-standard components, which have no interchangeability of components and are relatively expensive. .

Contents of the invention

The purpose of the present invention is to propose a heavy-duty hydraulic mechanical claw with dual degrees of freedom in view of the shortcomings of the existing technology.

The object of the present invention is achieved through the following technical solutions: a heavy-duty hydraulic mechanical claw with two degrees of freedom, including a clamping assembly, a linear drive assembly and a rotary drive assembly; the clamping assembly is used to directly contact the operated object contact to provide clamping force; the direct drive component achieves direct freedom of movement; the rotary drive component achieves rotational freedom;

The clamping assembly includes two parts that are symmetrical up and down. Each part includes a chuck, a chuck connecting rod and a chuck auxiliary rod. The two parts are connected by a linear connecting rod; the chuck and the chuck connecting rod form a rotating pair; The chuck connecting rod and the direct drive assembly form a rotating pair; the chuck connecting rod and the direct drive assembly form a rotating pair; the chuck and the chuck auxiliary rod form a rotating pair; the chuck auxiliary rod and the direct driving assembly form a rotating pair;

The direct drive assembly is installed in the direct drive housing and includes a bracket, a static oil ring, a dynamic oil ring, a piston and a piston rod; the direct drive housing has an oil port connected to the oil path of the direct drive assembly ; A set of bearings are respectively installed at the front and rear ends of the direct drive assembly; both the static oil ring and the direct drive housing remain stationary; the outer surface of the static oil ring is provided with a number of static sealing ring grooves arranged along the circumferential direction. Static sealing is achieved between the oil ring and the direct drive housing through a sealing ring installed in the groove of the static sealing ring; the dynamic oil ring is connected to the rotary drive assembly through splines, and the dynamic oil ring is fixedly connected to the bracket; the piston is located in the dynamic oil ring On the central axis of the piston rod, the piston rod is fixedly connected to the direct-acting connecting rod; the inner surface of the static oil ring is provided with a number of dynamic seal grooves arranged in the circumferential direction; the dynamic oil ring and the static oil ring are installed in the dynamic seal groove The combined seal in the dynamic oil ring realizes dynamic sealing; a buffer boss is provided at the extreme position of the piston movement in the dynamic oil ring;

The static oil ring is designed with two static oil ring oil ports, which are used to input high-pressure oil supplied from the outside and output low-pressure oil to the outside world respectively; the inner surface of the static oil ring is provided with two oil grooves arranged along the circumference. , the positions respectively correspond to the two static oil ring oil ports;

The moving oil ring is designed with two external oil ports. The oil in the two oil grooves of the static oil ring enters the interior of the dynamic oil ring through the two external oil ports, forming two oil channels respectively;

The rotary drive assembly includes a swing cylinder, a swing cylinder drive shaft, and a rotary drive housing; splines are processed on the swing cylinder drive shaft, and the rotary drive housing and the direct drive housing are fixedly connected through the swing cylinder connecting plate; the rotary drive housing realizes the swing cylinder The oil inlet and oil return are connected with the outside world.

Further, a set of bearings formed by two bearings facing each other in double rows is installed on the front end of the linear drive assembly.

Further, the lubricating oil of the bearing installed at the front end of the linear drive assembly is sealed by an oil seal.

Furthermore, two processing ports are designed on the dynamic oil ring to facilitate the processing of oil channels, and the processing ports are sealed by oil plugs during use.

Further, the rotary drive assembly also includes an angle encoder, which is connected to the drive shaft of the swing cylinder and monitors the rotation angle of the swing cylinder.

A method of using a heavy-duty hydraulic mechanical claw with two degrees of freedom to clamp an operated object, including:

The direct drive component realizes the opening and closing action of the mechanical claw, and cooperates with the mechanical claw chuck to complete the clamping action of the operated object, specifically:

When the piston moves forward, the piston rod advances to push the linear connecting rod forward. At this time, the chuck connecting rod rotates, and the chuck always maintains the clamping surface level under the pull of the chuck auxiliary rod. Each rotating pair interacts to achieve the opening action of the mechanical claw;

When the piston makes a retracting movement, the direct-acting connecting rod is pulled back by the piston rod retracting. At this time, the chuck connecting rod rotates, and the chuck always maintains the clamping surface level under the pull of the chuck auxiliary rod. Each rotating pair in the holding assembly interacts to achieve the closing action of the mechanical claw;

The rotary drive assembly realizes the rotary motion of the mechanical claw, and the spline drives the rotating oil ring to rotate, thereby driving the entire mechanical claw clamping assembly, piston rod, and piston to rotate; it cooperates with the mechanical claw chuck to clamp the operated object to realize the rotation of the mechanical claw. The flipping action of the operating object.

The beneficial effects of the present invention are: providing power through hydraulic pressure, the rotary drive assembly and the direct drive assembly realize the movement of the mechanical claw with two degrees of freedom: rotation and direct motion, and the direct drive assembly can realize the opening and closing of the mechanical claw. The rotary drive assembly is connected to the linear drive assembly through splines to provide greater torque. The two sets of bearings located in the middle of the mechanical claw ensure the rigidity of the overall structure of the mechanical claw and can resist the bending moment generated during heavy-load operations. The retracted buffer cavity realizes buffering of the extreme position of the direct drive component and prevents the piston from being blocked. The oil port ensures the compact structure of the mechanical claw. This mechanical claw has dual degrees of freedom of rotation and linear motion and is suitable for heavy-load conditions, and has excellent engineering application prospects.

Description of the drawings

Figure 1 is an overall isometric view of a heavy-duty hydraulic mechanical claw with two degrees of freedom;

Figure 2 is a cross-sectional view of the mechanical claw;

Figure 3 is a cross-sectional view of the static oil ring;

Figure 4 is a cross-sectional view of the dynamic oil ring;

Figure 5 is a schematic diagram of the degree of freedom implementation.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

The invention provides a heavy-duty hydraulic mechanical claw with two degrees of freedom, including a clamping component 1, a linear drive component 2 and a rotary drive component 3; wherein the clamping component 1 is used to directly contact the operated object, providing clamping force; the linear drive assembly 2 realizes the degree of freedom of linear motion; the rotary drive assembly 3 realizes the degree of freedom of rotation.

As shown in Figures 1 and 2, the clamping assembly 1 includes two parts that are symmetrical up and down. Each part includes a chuck 1.1, a first chuck rotating shaft 1.2, a first bearing 1.3, a chuck connecting rod 1.4, and a second bearing 1.5. , connecting rod rotating shaft 1.6, third bearing 1.7, second chuck rotating shaft 1.8, chuck auxiliary rod 1.9, direct-acting connecting rod rotating shaft 1.10, the two parts are connected by a direct-acting connecting rod 1.11. The chuck 1.1 forms a rotating pair with the chuck connecting rod 1.4 through the first chuck rotating shaft 1.2 and the first bearing 1.3. In the same way, the chuck connecting rod 1.4 passes through the second bearing 1.5 and the connecting rod rotating shaft 1.6, and forms a rotating pair with the direct drive assembly 2; the chuck 1.1 passes through the third bearing 1.7 and the second chuck rotating shaft 1.8, and is connected with the chuck auxiliary rod 1.9 forms a rotating pair; the chuck connecting rod 1.4 forms a rotating pair through the direct-acting connecting rod shaft 1.10 and the direct-acting connecting rod 1.11. The chuck auxiliary rod 1.9 and the linear drive assembly 2 form a rotating pair. The rotating pair can realize the relative rotational motion of each part of the clamping assembly, and can convert the linear motion generated by the piston rod 2.8 into the opening and closing motion of the entire clamping assembly through the rotational motion of each rotating pair. The specific opening and closing degrees of freedom are explained later in conjunction with Figure 5.

As shown in Figures 1, 2, and 3, the linear drive assembly 2 achieves a degree of freedom in linear motion, in which the entire linear drive assembly 2 is included in the linear drive housing 2.4. The oil port can realize the circulation of oil inside the direct drive assembly 2 and the outside world. The fourth bearing 2.2 and the fifth bearing 2.3 are double rows facing each other as the first set of bearings. The sixth bearing 2.5 alone serves as the second set of bearings. The two sets of bearings They are respectively distributed at the front and rear ends of the direct drive assembly 2 and are located at the front and rear ends of the middle section of the entire mechanical claw, which can effectively resist the bending moment exerted on the entire mechanical claw during heavy-load operations. Oil seal 2.1 is used to seal the lubricating oil of the bearing. The static oil ring 2.6 and the direct drive housing 2.4 remain stationary and do not rotate. The outer surface of the static oil ring 2.6 is provided with three circumferentially arranged first static sealing ring grooves 2.6.1, second static sealing ring grooves 2.6.3, and third static sealing ring grooves 2.6.5. The connection between the ring 2.6 and the direct drive housing 2.4 is achieved by sealing rings installed in the first static sealing ring groove 2.6.1, the second static sealing ring groove 2.6.3, and the third static sealing ring groove 2.6.5. Static seal. The dynamic oil ring 2.7 is connected to the rotary drive assembly 3 through splines 3.4. The splines 3.4 can transmit large torque to realize the turning function after the mechanical claw clamps heavy objects. The dynamic oil ring 2.7 and the bracket 2.10 are connected through bolts. The bracket 2.10 The chuck connecting rod 1.4 of the mechanical claw clamping assembly 1 forms a rotating pair through the second bearing 1.5 and the connecting rod rotating shaft 1.6; the piston 2.9 is located on the central axis of the dynamic oil ring 2.7, and the piston rod 2.8 is connected to the direct drive through bolts. The rod 1.11 is fixedly connected; the spline 3.4 drives the rotating oil ring 2.7 to rotate, thereby driving the entire mechanical claw clamping assembly 1, the piston rod 2.8, and the piston 2.9 to rotate. The inner surface of the static oil ring 2.6 is provided with three circumferentially arranged first dynamic seal grooves 2.6.6, second dynamic seal grooves 2.6.7, and third dynamic seal grooves 2.6.8; the dynamic oil ring 2.7 and Dynamic sealing is achieved between the static oil rings 2.6 through combined seals installed in the first dynamic seal groove 2.6.6, the second dynamic seal groove 2.6.7, and the third dynamic seal groove 2.6.8 of the static oil ring.

As shown in Figure 3, the static oil ring 2.6 in the direct drive assembly 2 is designed with a first static oil ring oil port 2.6.2 and a second static oil ring oil port 2.6.4, the functions of which are input The high-pressure oil in the direct drive assembly 2 is supplied from the outside and the low-pressure oil in the direct drive assembly 2 is output to the outside world. The inner surface of the static oil ring 2.6 is provided with a first oil groove 2.6.9 and a second oil groove 2.6.10 arranged in the circumferential direction, and their positions correspond to the first oil static ring oil port 2.6.2 and the second static oil ring oil port 2.6 respectively. .4. A dynamic oil ring that can distribute oil and perform relative rotation with the static oil ring.

As shown in Figure 4, the dynamic oil ring 2.7 in the direct drive assembly 2 is designed with a first external oil port 2.7.3 of the dynamic oil ring and a second external oil port 2.7.8 of the dynamic oil ring. On the static oil ring The oil in the first oil tank 2.6.9 and the second oil tank 2.6.10 in 2.6 can enter the dynamic oil ring 2.7 through the first external oil port 2.7.3 and the second external oil port 2.7.8 of the dynamic oil ring. Inside, a first oil channel 2.7.2 and a second oil channel 2.7.7 are respectively formed. During the processing, in order to facilitate the processing of the first oil channel 2.7.2, a first processing port 2.7.1 and a second processing port 2.7.4 are designed on the dynamic oil ring 2.7. In actual use, the two processing ports are The oil plug is blocked. Setting the buffer boss 2.7.6 at the movement limit position of the piston 2.9 in the moving oil ring 2.7 can play a buffering role at the limit position when the mechanical claw is closed, and at the same time provide a certain amount of oil for the oil to enter the moving oil ring when the mechanical claw is closed at the limit position. space to prevent the oil port from being blocked when the piston 2.9 is at the extreme position, resulting in insufficient oil action area.

As shown in Figures 2, 3, 4, and 5, when the mechanical claw opens and closes, the oil circuit connection in the direct drive assembly 2 is as follows: the piston 2.9 can move forward and backward in the moving oil ring 2.7, and the piston 2.9 When moving forward, the piston rod 2.8 moves forward to push the direct-acting connecting rod 1.11 forward. At this time, the chuck connecting rod 1.4 rotates with the connecting rod shaft 1.6 as the center of rotation. At this time, the chuck 1.1 is pulled by the chuck auxiliary rod 1.9. down, rotate around the first chuck rotation axis 1.2, so that the chuck 1.1 always maintains the clamping surface in a horizontal state. Through the interaction of each rotation pair in the clamping assembly 1, the mechanical claw opening action is realized; the piston 2.9 makes a retreat movement. When the piston rod 2.8 retracts, the direct-acting connecting rod 1.11 is pulled back. At this time, the chuck connecting rod 1.4 rotates with the connecting rod shaft 1.6 as the center of rotation. At this time, the chuck 1.1 is pulled by the chuck auxiliary rod 1.9. , rotate around the first chuck rotation axis 1.2, so that the chuck 1.1 always maintains the clamping surface in a horizontal state, and the mechanical claw closing action is realized through the interaction of each rotation pair in the clamping assembly 1. During the closing process of the mechanical claw, high-pressure oil enters the first oil tank 2.6.9 from the first static oil ring oil port 2.6.2, passes through the first moving oil ring outer oil port 2.7.3, and passes through the first oil channel 2.7.2 , enters the moving oil ring 2.7 from the oil port 2.7.5 in the first moving oil ring, acts on the rod end of the piston 2.9 in the moving oil ring, and the low-pressure oil passes through the second oil channel 2.7.7 and flows from the second moving oil ring The external oil port 2.7.8 enters the second oil groove 2.6.10 of the static oil ring, and is output to the outside world through the second oil port 2.6.4 of the static oil ring. During the opening process of the mechanical claw, high-pressure oil enters the second oil tank 2.6.10 from the oil port 2.6.4 of the second static oil ring, passes through the outer oil port 2.7.8 of the second moving oil ring, and passes through the second oil channel 2.7.7 Entering the east ring, it acts on the rodless end of the piston 2.9 in the moving oil ring. The low-pressure oil passes through the first oil channel 2.7.2 and enters the first oil groove 2.6 of the static oil ring from the outer oil port 2.7.3 of the first moving oil ring. .9, output to the outside world through the first static oil ring oil port 2.6.2.

As shown in Figures 1 and 2, the rotary drive assembly 3 achieves a rotary degree of freedom, and includes a swing cylinder 3.3, a swing cylinder drive shaft 3.5, a rotary drive housing 3.2 and an angle encoder 3.6. The spline 3.4 is machined on the swing cylinder drive shaft 3.5. The rotary drive housing 3.2 and the direct drive housing 2.4 are connected through the swing cylinder connecting plate 3.1 through bolts; the angle encoder 3.6 is connected to the swing cylinder drive shaft 3.5 to monitor the swing cylinder rotation angle. . The rotary drive housing 3.2 can realize the communication between the oil inlet and oil return of the swing cylinder 3.3 and the outside world.

The working process of the present invention is as follows:

(1) Install the heavy-duty hydraulic mechanical claw onto the hydraulic mechanical arm;

(2) Connect the pipe joints of the linear drive assembly and the rotary drive assembly of the mechanical claw to their respective high-pressure oil sources, low-pressure oil sources, etc.;

(3) After debugging, test the hydraulic mechanical claw;

(4) The direct drive component realizes the opening and closing action of the mechanical claw, and can be used with the mechanical claw chuck to complete the clamping action of the operated object;

(5) The rotary drive assembly realizes the rotary action of the mechanical claw, and cooperates with the mechanical claw chuck to clamp the operated object to achieve actions such as turning over the operated object.

Finally, it should be noted that the above description is only a specific application example of the present invention. Various forms of direct drive components and rotary drive components can be designed according to needs. Obviously, other application examples that are the same as the basic principles of the present invention should also be included. protection scope of the present invention.

Claims (6)

1. The heavy-duty hydraulic gripper with the double degrees of freedom is characterized by comprising a clamping assembly (1), a direct-acting driving assembly (2) and a rotary driving assembly (3); the clamping assembly (1) is used for being in direct contact with an operated object to provide clamping force; the linear motion driving component (2) realizes the degree of freedom of linear motion; the rotary driving assembly (3) realizes the degree of freedom of rotation;

the clamping assembly (1) comprises two parts which are vertically symmetrical, each part comprises a chuck (1.1), a chuck connecting rod (1.4) and a chuck auxiliary rod (1.9), and the two parts are connected through a direct-acting connecting rod (1.11); the chuck (1.1) and the chuck connecting rod (1.4) form a revolute pair; the chuck connecting rod (1.4) and the direct-acting driving assembly (2) form a revolute pair; the chuck connecting rod (1.4) and the direct-acting connecting rod (1.11) form a revolute pair; the chuck (1.1) and the chuck auxiliary rod (1.9) form a revolute pair; the chuck auxiliary rod (1.9) and the direct-acting driving assembly (2) form a revolute pair;

the direct-acting driving assembly (2) is arranged in the direct-acting driving shell (2.4) and comprises a bracket (2.10), an oil-static ring (2.6), an oil-moving ring (2.7), a piston (2.9) and a piston rod (2.8); an oil port communicated with an oil path of the direct-acting driving assembly (2) is formed in the direct-acting driving shell (2.4); the front end and the rear end of the direct-acting driving assembly (2) are respectively provided with a group of bearings; both the stationary oil ring (2.6) and the direct drive housing (2.4) remain stationary; the outer surface of the static oil ring (2.6) is provided with a plurality of static seal ring grooves which are arranged along the circumferential direction, and static seal is realized between the static oil ring (2.6) and the direct-acting driving shell (2.4) through seal rings arranged in the static seal ring grooves; the oil moving ring (2.7) is connected with the rotary driving assembly (3) through a spline (3.4), and the oil moving ring (2.7) is fixedly connected with the bracket (2.10); the piston (2.9) is positioned on the central shaft of the oil moving ring (2.7), and the piston rod (2.8) is fixedly connected with the direct-acting connecting rod (1.11); the inner surface of the oil-static ring (2.6) is provided with a plurality of dynamic seal grooves which are circumferentially arranged; the dynamic seal is realized between the dynamic oil ring (2.7) and the static oil ring (2.6) through a combined sealing piece arranged in the dynamic seal groove; a buffer boss (2.7.6) is arranged at the movement limit position of the piston (2.9) in the oil moving ring (2.7);

two oil ports of the oil ring are designed on the oil ring (2.6) and are respectively used for inputting high-pressure oil supplied by the outside and outputting low-pressure oil to the outside; the inner surface of the oil-static ring (2.6) is provided with two oil grooves which are arranged along the circumferential direction, and the positions of the oil grooves respectively correspond to the oil ports of the two oil-static rings;

two outer oil ports are designed on the oil moving ring (2.7), and oil in two oil tanks of the oil static ring (2.6) enters the oil moving ring (2.7) through the two outer oil ports respectively to form two oil passages respectively;

the rotary driving assembly (3) comprises a swinging cylinder (3.3), a swinging cylinder driving shaft (3.5) and a rotary driving shell (3.2); the spline (3.4) is processed on the swing cylinder driving shaft (3.5), and the rotary driving shell (3.2) and the direct-acting driving shell (2.4) are fixedly connected through the swing cylinder connecting plate (3.1); the rotary driving shell (3.2) realizes the communication between oil inlet and return of the swing cylinder (3.3) and the outside.

2. A heavy duty hydraulic gripper according to claim 1, characterized in that the front end of the direct drive assembly (2) is fitted with a set of bearings formed by two bearing double row pairs.

3. A heavy duty hydraulic gripper according to claim 1, characterized in that the bearing mounted at the front end of the direct drive assembly (2) is sealed with lubricating oil by means of an oil seal (2.1).

4. A heavy duty hydraulic gripper according to claim 1, characterized in that two machining ports are designed in the oil ring (2.7) to facilitate machining of the oil channel, the machining ports being sealed in use by oil plugs.

5. A heavy duty hydraulic gripper according to claim 1, characterized in that the swing drive assembly (3) further comprises an angle encoder (3.6), the angle encoder (3.6) being connected to the swing cylinder drive shaft (3.5) for monitoring the swing cylinder swing angle.

6. A method of gripping an operated object with the hydraulic gripper according to any one of claims 1 to 5, characterized by comprising:

the direct-acting driving assembly (2) realizes the opening and closing actions of the mechanical claw, and is matched with the mechanical claw chuck to complete the clamping action of an operated object, specifically:

when the piston (2.9) moves forwards, the piston rod (2.8) moves forwards to push the direct-acting connecting rod (1.11) to move forwards, at the moment, the chuck connecting rod (1.4) rotates, the chuck (1.1) always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod (1.9), and the mechanical claw opening action is realized through the interaction of all rotating pairs in the clamping assembly (1);

when the piston (2.9) moves back, the straight-acting connecting rod (1.11) is pulled back through the piston rod (2.8), at the moment, the chuck connecting rod (1.4) rotates, the chuck (1.1) always keeps the horizontal state of the clamping surface under the pulling of the chuck auxiliary rod (1.9), and the mechanical claw closing action is realized through the interaction of all rotating pairs in the clamping assembly (1);

the rotary driving assembly (3) realizes the rotary action of the mechanical claw, and the spline (3.4) drives the oil moving ring (2.7) to perform rotary motion, so that the whole mechanical claw clamping assembly (1), the piston rod (2.8) and the piston (2.9) are driven to perform rotary motion; the mechanical claw clamping head is matched to clamp the operated object, so that the overturning action of the operated object is realized.